TY - GEN
T1 - Fuzzy sliding mode control with perturbation estimation for a piezoactuated micromanipulator
AU - Xu, Qingsong
AU - Li, Yangmin
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper is concentrated on control system design for an XY parallel micromanipulator with piezoelectric actuation. The decoupled property of the manipulator enables the employment of single-input-single-output controllers for the two working axes. To compensate for nonlinear hysteresis effect stemming from piezoelectric actuator, the dynamics with Bouc-Wen hysteresis model is derived and identified for the system. Afterwards, a real-time fuzzy sliding mode control with perturbation estimation (FSMCPE) along with fuzzy switching control is proposed to attenuate the chattering phenomenon. Experimental studies reveal that the designed FSMCPE is superior to conventional SMCPE in terms of both positioning and tracking performances of the micromanip-ulator system, which validates the effectiveness of the presented control system design as well.
AB - This paper is concentrated on control system design for an XY parallel micromanipulator with piezoelectric actuation. The decoupled property of the manipulator enables the employment of single-input-single-output controllers for the two working axes. To compensate for nonlinear hysteresis effect stemming from piezoelectric actuator, the dynamics with Bouc-Wen hysteresis model is derived and identified for the system. Afterwards, a real-time fuzzy sliding mode control with perturbation estimation (FSMCPE) along with fuzzy switching control is proposed to attenuate the chattering phenomenon. Experimental studies reveal that the designed FSMCPE is superior to conventional SMCPE in terms of both positioning and tracking performances of the micromanip-ulator system, which validates the effectiveness of the presented control system design as well.
KW - Fuzzy sliding mode control
KW - Micropositioning
KW - Parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=79957812326&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-12990-2_18
DO - 10.1007/978-3-642-12990-2_18
M3 - Conference article published in proceeding or book
SN - 9783642129896
T3 - Lecture Notes in Electrical Engineering
SP - 153
EP - 160
BT - Advances in Neural Network Research and Applications
T2 - 7th International Symposium on Neural Networks, ISNN 2010
Y2 - 6 June 2010 through 9 June 2010
ER -